CN103620574B - For the method and apparatus improving the data transmission capacity in serial bus system - Google Patents
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- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/08—Error detection or correction by redundancy in data representation, e.g. by using checking codes
- G06F11/10—Adding special bits or symbols to the coded information, e.g. parity check, casting out 9's or 11's
- G06F11/1004—Adding special bits or symbols to the coded information, e.g. parity check, casting out 9's or 11's to protect a block of data words, e.g. CRC or checksum
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- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
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- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
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- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
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- H03M13/03—Error detection or forward error correction by redundancy in data representation, i.e. code words containing more digits than the source words
- H03M13/05—Error detection or forward error correction by redundancy in data representation, i.e. code words containing more digits than the source words using block codes, i.e. a predetermined number of check bits joined to a predetermined number of information bits
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- H03M13/03—Error detection or forward error correction by redundancy in data representation, i.e. code words containing more digits than the source words
- H03M13/05—Error detection or forward error correction by redundancy in data representation, i.e. code words containing more digits than the source words using block codes, i.e. a predetermined number of check bits joined to a predetermined number of information bits
- H03M13/09—Error detection only, e.g. using cyclic redundancy check [CRC] codes or single parity bit
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- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
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Abstract
Describe a kind of method for carrying out serial data transmission in the bus system with the data processing unit that at least two participates in, wherein said data processing unit passes through bus switch message, the message wherein sent has the logical structure according to CAN standard ISO 11898-1, wherein said logical structure includes start of frame bits, arbitration field, control field, data field, crc field, confirm field and frame end sequence, wherein with CAN standard ISO 11898-1 differently, the data field of the message transmitted can include more than 8 bytes, at least a part of which partly differently explains with CAN standard ISO 11898-1 that the value of data length code is to determine data field size.
Description
Technical field
The present invention relates to the method for improving in serial bus system the data transmission capacity between at least two user and equipment.
Background technology
Such as by ISO 11898-1 to 11898-5 race's standard known controller area network (CAN) and be referred to as " Time Triggered CAN " (TTCAN) CAN extension, the most also referred to as standard CAN.The media access control method used in CAN is based on bit-by-bit arbitration.In the case of bit-by-bit arbitration, the most therefore multiple subscriber stations simultaneously by the channel transmission data of bus system, and can disturb data transmission.Additionally, subscriber station can ask for the logic state (0 or 1) of channel when sending position by channel.If the value of the position sent is the most corresponding with striked channel logic state, then subscriber station terminates the access to channel.In the case of CAN, carry out bit-by-bit arbitration generally according to the identifier in the message of transmission to be passed through.After identifier is completely sent to channel by subscriber station, this subscriber station is known, it has the exclusive access to this channel.Therefore, identifier transmission terminate corresponding to release interval beginning, described release interval in subscriber station can be exclusive use channel.According to the protocol specification of CAN, other subscriber stations are not allowed access to this channel always namely send data to this channel, until sending subscriber station to transmit the check field (crc field) of message.Therefore, the finish time of the transmission of crc field is corresponding to the end at release interval.
Therefore, bit-by-bit arbitration is passed through, it is achieved that transmitted the message having obtained arbitral procedure without damage by channel.The agreement of CAN is particularly suitable for transmitting short message under real-time conditions, wherein can guarantee that the message of particular importance the most always obtains arbitration and is successfully sent by the suitable distribution of identifier.
Along with increasing modern vehicle is networked and additional, to be used for improving the system of such as drive safety or driver comfort entrance, to data volume waiting for transmission and the requirement increase of the time delay of permission when transmission.Example has driving dynamic adjusting system (such as electronic stability program ESP), driver assistance system (such as auto spacing regulation ACC) or information system for driver (such as Traffic Sign Recognition) (to see for example " Bosch
Kraftfahrtechnisches Handbuch " in description, the 27th edition, Vieweg+Teubner in 2011).
DE
103 11 395 A1 describe a kind of system, asynchronous serial communication can be carried out alternatively by asymmetrical physics CAN protocol or by symmetrical physics CAN protocol in the system, and can thus be asynchronous communication and realize higher message transmission rate or data transmission security.
DE 10
2007 051 657 A1 propose, apply in the exclusive times window of TTCAN agreement asynchronous, quickly, do not meet the data transmission of CAN, in order to improve the data volume of transmission.
G.
Cena and A. Valenzano is at " Overclocking of controller area networks " (Electronics Letters, volume 35,22nd phase (1999), page 1924) in inquired into the impact of the data rate on effectively realizing of the bus frequency overclocking in message subregion.Do not inquire into the coupling of data transmission security.
It can be seen that prior art does not provide gratifying result at each aspect.
Summary of the invention
The present invention is described together with its advantage below according to drawings and Examples.Subject of the present invention is not limited to shown and described embodiment.
Advantages of the present invention
The present invention from by bus system according to CAN standard ISO
The logical structure transmission message of 11898-1 is set out, described bus system has the data processing unit that at least two participates in, wherein said logical structure includes start of frame bits, arbitration field, control field, data field, crc field, confirmation field and frame end sequence, wherein said control field includes that data length code, described data length code comprise the information of the length about data field.
The present invention realizes following effect by the probability providing the data field for increasing the message transmitted: can transmit bigger data volume by unique message by bus relative to standard compliant CAN message, its mode is, the data field of message and CAN standard ISO 11898-1 differently can comprise more than 8 bytes, and at least a part of which partly differently explains with CAN standard ISO 11898-1 that the value of the position of data length code is to determine data field size.Therefore, by the way of favourable, in message, data volume is risen with the ratio of the information of control and is therefore also risen by the average data transfer rate of bus system.
By arranging clear and definite distribution between content and the length of data field of data length code, by the way of favourable, achieve the high flexibility about denotable data field size.
It is also advantageous that, distribute data field size corresponding with standard CAN namely 1 byte to 8 bytes for the normally used value 0b0001 to 0b1000 in standard CAN of data length code, and its residual value of data length code for data field size of other permissions until the size of maximum possible.This coupling reducing application software in the case of being converted to the method according to the invention in a cost effective manner expends.
In addition it is possible that in the case of data field increases according to the present invention, use the multinomial changed calculate verification and and transmit the multinomial of described change in crc field.This advantageously, the bigger data volume for being transmitted also retains the safety of wrong identification.In a particularly advantageous embodiment, multiple calculating of parallel starting verification sum when message starts, and determine use which result of one of these calculating or in crc field, transmit which result according to the content of data length code.Thus it is possible that send the information about following content together with message: message is to be transmitted also according to the method revised according to the present invention according to standard compliant method, without the recipient that gives advance notice about the method used.For checking the verification of correct data transmission and all existing for two kinds of methods and can be the most evaluated.
It is further favourable that may be present, crc field in the message occurs before filler be received in the calculating of verification sum.Improve the safety of data transmission the most further or for the identification probability of data transmission fault.
If described method is combined with the conversion of for example, at least data field and the bit length of the position of crc field further, then realize another advantage: than transmitting bigger data volume the most post data field being limited in 8 bytes.Thus, the average data transfer rate of bus system is further up.In a kind of favourable enforcement, realize the labelling with the message of the bit length of shortening in this case through the marker bit in control field.It is possible to the conversion with CRC calculating or data field size independently realizes the conversion of bit length and can react the situation of bus system neatly.
Described method can be advantageously utilised in motor vehicles properly functioning in between at least two controller of motor vehicles transmit data, described at least two controller is connected by suitable data/address bus.But during can being equally advantageous used in manufacture or the maintenance of motor vehicles, for transmitting data between purpose and programming unit and at least one controller being connected with data/address bus of motor vehicles that suitably data/address bus is connected of programming.When transmitting bigger data volume the most for control purposes, described method can equally advantageous be used in industrial circle.In particular, the data rate of reduction must be applied during arbitrating so that all users have when obtaining the probability of bus access, it is possible to by described method, especially combined with the reduction of the conversion of the length of data field and bit length realize higher message transmission rate when the length due to transmission path.
Another advantage is, in order to work according to the present invention, it is only necessary to minimally change standard CAN controller.Communication controler according to the present invention is only slightly larger than conventional standard CAN controller, and the described communication controler according to the present invention can also work as standard CAN controller.Affiliated application program need not be changed, the most in terms of the speed of data transmission, achieve advantage.
Can the pith (ISO 16845) of adapter CAN uniformity test in an advantageous manner.In a kind of favourable enforcement, it is possible to by the transmission method according to the present invention and TTCAN(ISO
11898-4) supplementary combined.
Accompanying drawing explanation
Additionally, the present invention is explained in greater detail with reference to the accompanying drawings.
Fig. 1 a illustrates two kinds of alternatives of the message structure with the CAN form according to CAN standard ISO 11898-1 of the prior art.Fig. 1 b illustrates two kinds of similar alternatives of the form of the message revised in contrast according to the present invention.
Fig. 2 illustrates how differently to explain from CAN standard ISO 11898-1 the different probabilities of the content of data length code according to the present invention.
One embodiment of the reception process according to the present invention that Fig. 3 is shown schematically on the subscriber station of bus system.
Another embodiment of the reception process according to the present invention that Fig. 4 is shown schematically on the subscriber station of bus system.
Fig. 5 illustrates two examples of the form of the message according to present invention amendment, the most additionally uses different bit lengths in the regulation region in message.
Detailed description of the invention
As being used for message structure data are transmitted in CAN shown in Fig. 1 a.Two kinds of different forms " standard " and " extension " are shown.The method according to the invention is applicable on two kinds of forms equally.
Message starts with " frame initiates " (SOF) position, and described " frame initiates " position signals the beginning of message.Being followed by being mainly used in the fragment of message identifier, according to this fragment, the user of bus system determines whether it receives this message.Described fragment represents with " arbitration field " and comprises identifier.Being followed by " control field ", described " control field " especially comprises data length code.Data length code comprises the information of the data field size about message.Being actual data field " data field " after this, this data field comprises the data to exchange between the user of bus system.Being followed by having " crc field " including 15 bit checks and separator one by one, and be followed by two " confirmation " (ACK) positions, described " confirmation " position is for signaling being properly received of message to sender.This message passes through " frame end " (EOF) EOS.
In the CAN transmission method according to standard, data field is maximum allowable comprises 8 bytes, i.e. 64 bit data.Data length code includes 4 according to standard, i.e. receives 16 different values.In this value scope from bus system now, simply use 8 different values for the different size of data field from 1 byte to 8 bytes.In standard CAN, do not recommend the data field of 0 byte, do not allow the size of more than 8 bytes.Shown in the value of the data length code distribution row CAN standard in fig. 2 to data field size.
In Figure 1b with similar graphic comparison according to the present invention modified message to be transmitted, described message derives respectively from two kinds of reference formats.
According in the modified transmission method of the present invention, data field also allows for comprising more than 8 bytes, i.e. up to K byte in shown enforcement.Different from standard CAN, other values utilizing data length code to use carry out the data field that labelling is bigger.The data length code that such as can use 4 represents the value of 0 to 15 byte.But can also make other distribution, such as a kind of probability is value DLC=0b0000 being often used without in CAN message now of data length code to be used for other possible data field size, such as 16 byte-sized.Both probabilities illustrate as DLC 1 and DLC 2 the most in a tabular form.Largest amount K of data field has value 15 or 16 in these cases.
Further possibility is, for data length code more than 0b1000 with to the value of 0b1111, the affiliated size of data field respectively increases by 2 bytes.This situation is shown as DLC 3 in the table.Largest amount K of data field reaches to be worth 24 in this flexible program.By selecting bigger increment, such as 4 bytes, can correspondingly realize bigger data field.
Additionally, also carry out another amendment in example DLC 3: in this embodiment, value DLC=0b0000 is used by remote frame.In standard CAN, specify, send and there is the remote frame of identical DLC value, as the message that the response of remote frame is sent, there is this DLC value in contrast.Be ensure that by amendment described here: can send the remote frame with different DLC and identical identifier, this (saving with reference to ISO 11898-1,10.8.8) may cause insurmountable conflict.
Described method the most in a tabular form row DLC 1, DLC 2 and DLC 3 shown in enforcement in, the value 0b0001 to 0b1000 of data length code to the data field size between 1 byte and 8 bytes distribution corresponding to the distribution in standard CAN.Thus can realize the compatibility with standard CAN by simple mode, i.e. it is so designed that communication controler, it is worked to conformance with standard in standard CAN bus system, and it allows the bigger data field in message in the bus system revised according to the present invention.But it is also possible that carry out the possible values complete new distribution to the data field size allowed of data length code.This example is listed as DLC 4 the most in fig. 2.Data field largest amount K realized is 30 bytes in this case.
In order to ensure that this communication controler can determine that it should explain the content of data length code in which way, it is advantageous to this communication controler identifies that the communication of bus system is to run according further to the method for the present invention according to standard CAN automatically.Being this kind of probability, using a reserved bit to be used for labelling in arbitration field or control field, thus communication controler can be derived the first switch condition UB1 by the first labelling K1, communication controler selects transmission method accordingly.The second of the control field represented with r0 the most in Figure 1b is for labelling.
Can also determine according to identifier-format selection is described.Therefore, addressing for standard, a kind of is by recessive EDL(growth data length for labelling according to the probability of the message of the present invention) position of the r0 position being dominant all the time in standard CAN that is inserted in control field, position.For extended addressing, the recessive EDL position in control field is substituted in the position of the r1 position being dominant all the time in standard CAN.
Further possibility is, uses SRR position, and it must always implicitly be sent in standard CAN, but is also accepted in the mode of being dominant by the user receiving message.Bit combination can also be assessed to determine the first switch condition UB1.
Further possibility is, for the transmission method revised according to the present invention, it is stipulated that the use of extended format.The message of extended format is by bus user according to the value identification (seeing Fig. 1 a) of IDE position, and this position may represent the first switch condition UB1 simultaneously, always applies modified transmission method hence for extension message.Alternatively it is still possible that use reserved bit r1 as the first labelling K1 or for the first switch condition UB1 that derives in extension message.But this reserved bit can also be further below described for the second switch condition UB2 that derives, and this second switch condition is used for carrying out changing or being allocated between the value and data field size of data length code between the data field size that more than two is different.
But alternatively it is also possible that be applied to described method to be suitable in this communication controler, described communication controler is also not designed for standard compliant CAN communication.In this case, it is also possible to cancel the determination such as according to the first switch condition UB1 to being previously mentioned of appropriate flags K1 of message.More properly, communication controler only according to the work of one of described method and the most only can use in this case in following bus system, simply uses this communication controler according to the present invention in described bus system.
If increasing the data field of message as regulation in the present invention, then meaningfully may also mate the method for Cyclic Redundancy Check used, in order to obtain enough false security.Especially it can be beneficial that use and such as there is the other CRC multinomial of higher order and correspondingly arrange different size of crc field in the message revised according to the present invention.This illustrates the most in the following manner: have the length of L position in an example shown according to the crc field of the message of the present invention, wherein L is different from standard CAN, can be not equal to, be especially greater than 15.
It is used for modified method calculating CRC check and bus user can being signaled to by the 3rd labelling K3 of expression the 3rd switch condition UB3.But labelling K3 and the 3rd switch condition UB3 can also be consistent with the first labelling K1 and/or switch condition UB1.At this, the most such as reserved bit r0 in Fig. 1 b can also be used for labelling, or SRR position can be used.It is also contemplated that combine described method land used of answering in extension message to use IDE position, or use position r1.
In standard CAN controller, produce the CRC code of CAN message to be sent by feedback shift register, the position that the serial in message described in the input sequentially feed-in of described feedback shift register sends.The width of shift register corresponds to CRC order of a polynomial.CRC coding is carried out by the logic association polynomial with CRC of content of registers during shifting function.If receiving CAN message, then during the position of the serial received of message is correspondingly displaced to CRC shift register.If being 0 in all positions of the end shift register of crc field, then CRC test is successful.CRC code generation and the test of the CRC under reception condition in the transmitting case are both carried out with hardware, without software intervention.Therefore, application software is not affected by the amendment of CRC coding.
In standard CAN protocol, filler in CAN message (with reference to ISO 11898-1, Section 10.5) do not include into the calculating of CRC code or in checking (with reference to ISO 11898-1,10.4.2.6 save " ... the bit
Stream given by the destuffed bit sequence ... ").This causes, and two bit-errors in a message are not identified in the rare cases, although described CRC should identify the bit-errors of up to five random distributions in a message originally.This be likely to occur in due to bit-errors filler be converted into data bit when, vice versa (with reference to " the Error Detection Analysis of Automotive Communication of Unruh, Mathony and Kaiser
Protocols ", SAE International Congress, the 900699th phase, the U.S., Detroit, nineteen ninety).
On the contrary, CRC coding can so be revised in the transmission method revised according to the present invention so that also include the filler in message when calculating or check CRC code.It is to say, in this embodiment, the part belonging to the data that the filler of arbitration field, control field and data field is protected as cyclic redundancy check (CRC) to be passed through is processed.The filler of crc field is shielded as in standard CAN.
In a kind of possible embodiment, it is so designed that communication controler, this communication controler is made to have the compatibility with standard CAN, namely work to conformance with standard in standard CAN bus system, and on the one hand this communication controler allows the bigger data field in message in the bus system revised according to the present invention and on the other hand also performs matched calculating and the inspection of CRC code.
Because the most not determining when receiving message and starting, whether receive standard compliant CAN message or the message according to present invention amendment, so according to the communication controler of the present invention realizes two CRC shift registers, the shift register concurrent working of said two CRC.After receiving CRC separator, when assessing CRC code in the receiver, also determine based on the 3rd labelling K3 according to the present invention or the 3rd switch condition UB3 that such as derives from the content of labelling or data length code and applied any transmission method, and then assess the shift register distributed to this transmission method.3rd switch condition UB3 can be the most consistent with the first switch condition UB1 as has been described previously, and described first switch condition relates to data field size and the explanation of data length code.
Although determine and should send according to any transmission method for sender when sending message and starting.But, lose for the arbitration of bus access because being likely to occur and do not send the message having begun to but alternatively receive another message, so also two CRC shift registers of parallel control at this.
The described realization of the CRC shift register of two concurrent workings also achieves another kind of improvement: the CRC multinomial (xl5+xl4+xl0+x8+x7+x4+x3+1) of standard CAN protocol is to design for the message-length less than 127.If the message according to present invention transmission also uses longer data field, the most meaningfully, use another the most longer CRC multinomial to keep transmission security.Data field change, the most longer is correspondingly obtained according to the message that the present invention transmits.In lasting operation communication controler dynamically two CRC shift registers namely the shift register of conformance with standard CAN and according to the shift register of the present invention between switch, in order to use the multinomial matched respectively.
It is of course also possible to length or desired transmission security according to data field hierarchically use more than two shift register and correspondingly use more than two CRC multinomial.In this case, if the compatibility with standard CAN should be kept, then corresponding labelling and switch condition related to this must be mated.Such as can trigger the first switch condition UB1 by reserved bit r0 in Fig. 1 b or SRR position, described first switch condition represents that longer data field is such as according to the DLC 1 on Fig. 2 and the 2nd affiliated polynomial conversion of CRC.For the message of extended format, can additionally, as triggered the second switch condition UB2 by reserved bit r1 in Fig. 1 b or IDE position, described second switch condition represent another group data field size such as Fig. 2 in DLC3 and the 3rd polynomial conversion of CRC.
Further it is also possible to be, first switch condition UB1 is such as transformed into the probability of longer data field and the respective explanations of the content of data length code by reserved bit r0 or SRR position, and then carries out the asking for and along with being chosen as the CRC multinomial that crc check is estimated of the 3rd switch condition UB3 according to the content of data length code.3rd switch condition UB3 correspondingly can also use more than two value.Such as can select data field size according to DLC 3, i.e. adopted value 0(is for remote frame), 1 byte, 8 bytes, 10 bytes, 12 bytes, 14 bytes, 16 bytes, 18 bytes, 20 bytes and 24 bytes, and then can calculate three CRC multinomials in parallel through suitable shift register, such as it is used for the standard CRC multinomial of the data field of up to 8 bytes, is used for the 2nd CRC multinomial of the data field of up to 16 bytes and the 3rd CRC multinomial of the data field for up to 24 bytes.
Fig. 3 illustrates a part for the reception process according to the present invention with the diagram simplified, as it runs on the subscriber station of bus system.It is shown in which situations below: realizing the compatibility with standard CAN in this case, its mode is, according to the behavior of the first switch condition UB1 coupling communication controler.Although have selected in figure 3, common diagram is described for software Program operation, but the method fits entirely into the realization in hardware equally.Shown flow process also includes implementation below, omits one or more or all switch conditions in said embodiment, such as omission switch condition UB1 recited above.Reception process is the most so run so that chooses same path in the branch that its affiliated switch condition is removed the most unchangeably, and is typically based on corresponding switch condition by different paths.The independent diagram of the flow chart of this simplification is omitted at this.
Subscriber station is first in the state to bus sampling, as long as there is not communication service in bus.Therefore, the position that is dominant in inquiry 302 wait bus.The beginning of this labelling new information.
Once it is determined that the beginning of new information, start the most in block 304 to calculate at least two want parallel computation verification and.First verification and the CRC corresponding to standard CAN calculate, and second verifies and calculates according to new method.Calculate second verification and time, include filler in an illustrated embodiment, and this be not the case according in the calculating of standard CAN.But it is also possible that with standard CAN similarly, do not account for being used for filler the calculating of the second verification sum yet.
Receiving other positions following SOF position of message subsequently from step 306, other positions described are from the beginning of arbitration field.If multiple bus users want to send message, consulting in described bus user according to the common methods coming from standard CAN the most in the case, which bus user obtains the access to bus.Shown block 306 represents the reception of all positions, determines until having received the first labelling K1 or the first switch condition UB1.In listed example, by arbitration field (being such as made up of SRR position or IDE position) or asked for the first switch condition UB1(by control field (being such as made up of the reserved bit of control field) and see Fig. 1).Subsequently, other positions other of message can be received in block 308, until starting to carry out different disposal according to the first striked switch condition UB1 from the certain bits of message.By corresponding inquiry or branch 310 guarantee that different methods processes separately, as below exemplary shown in as.
If such as there is following information after receiving first 2 of control field in branch 310: communicate (path represented with " 1 " of Fig. 3) according to the first switch condition UB1 according to standard CAN, read in other positions of control field the most in step 312.From these positions, assess data length code according to standard CAN and receive corresponding to the data volume belonging to data field the most in step 316, maximum 8 bytes.Receive the crc field including 15 the most in step 320.If there is following information in branch 324: the CRC check that transmitted by sender and with the CRC check asked for by recipient itself and consistent, then in block 328, send the acknowledgement bit being dominant.It should be noted that in this case compare standard compliant CRC check and, because communicating according to standard CAN.If it is determined that inconsistent, the most implicitly send acknowledgement bit (block 330).It is followed by ACK separator and EOF bit (not shown in Fig. 1 b, Fig. 3) subsequently.
If such as there is following information in contrast in branch 310 after receiving first 2 of control field: the communication means (path represented with " 2 " of Fig. 3) according to present invention amendment must be applied according to the first switch condition UB1, read in other positions of control field the most in a block 314.From this result, ask for data length code according to new explanation, list some examples the most in a tabular form for described new explanation.In block 318, receiving corresponding data volume, up to 15 bytes of the example DLC 1 being in Fig. 2 in form, for up to 16 bytes of example DLC 2, for up to 24 bytes of example DLC 3, and for the data of example DLC 4 up to 30 bytes.The crc field different, the most longer according to the present invention is received in block 322.If there is following information in branch 324: the CRC check that transmitted by sender and with the CRC check asked for by recipient itself and consistent, compare the most in this case based on the CRC check different according to the present invention and, then in block 328, send the acknowledgement bit being dominant.The most implicitly send acknowledgement bit (block 330).ACK separator and EOF bit it is followed by subsequently in step 332 or 334.Thus, the reception process for message terminates.
Figure 3 illustrates situations below: wherein determine that the 3rd switch condition U3 of CRC to be used is consistent with the first switch condition UB1 of the explanation relating to data field size and data length code.Therefore, the most again inquired about before the reception 320 or 322 of CRC check sum and receive which CRC according to the 3rd switch condition UB3 and for branch 324, it assessed.Simple modification by the flow chart in Fig. 3, it is possible to additional inquiry is adopted in flow process as shown in FIG. 4.
During the reception according to so amendment of Fig. 4, in inquiry or branch 410 asking for after receiving the data byte according to quantity desired by the information in data length code of data field in block 316 or 318, which value the 3rd switch condition UB3 has.Described information can the most be asked for by corresponding 3rd labelling K3 or the content by data length code.There is three different values for the 3rd switch condition UB3, i.e. A, B and C in an example shown.Then, according to the value of switch condition UB3, block 420,422 and 424 reads in the position of the varying number of crc field, such as, be 15 for value A, be 17 for value B, and be 19 for value C.Subsequently, check similarly with Fig. 3 in branch 324, sender the CRC check that transmits and with the CRC check asked for by recipient itself and the most consistent and process the most further.
Fig. 5 is the structure that other embodiments of the transmission method according to the present invention illustrate the message in two kinds of possible flexible programs, i.e. reference format and extended format again.For two kinds of flexible programs, draw region below in Figure 5: change between two states represents with " quick CAN arbitrates (Fast-CAN-Arbitration) " and " quick CAN data (Fast-CAN-Data) " at this in this region.Conversion between two states causes in this example embodiment: terminate for a part for described message, especially for the arbitration of data field and crc field after bit length shorten and therefore each position be transmitted by bus more quickly.Thereby, it is possible to shorten the transmission time for message relative to standard compliant method.The affiliated switching of temporal bit length such as can realize by using the zoom factor that at least two is different to adjust bus time unit relative to minimum time unit or oscillator clock in continuous service.The conversion of bit length and the corresponding change of zoom factor are exemplarily illustrated the most equally.
Transition between two states " quick CAN arbitration " and " quick CAN data " can be carried out according to the 4th switch condition UB4,4th switch condition is corresponding with the 4th labelling K4 of message, and described 4th labelling signals the bit length applying shortening to the user that data are transmitted.In embodiment shown here, the selected position of labelling K4 is " reserved bit " r0, and described reserved bit was transmitted before data length code.This position is therefore corresponding to the first labelling K1 and the possible position of the 3rd labelling K3, the possible use of this first labelling K1 and first data field that switch condition UB1 is corresponding and labelling is longer and the explanation of the change of data length code, the 3rd labelling K3 and the CRC of change calculates corresponding.
Figure 6 illustrates according to the further possibility of the message of the bit length with shortening of the present invention for labelling.Here, the CRC with potential longer data field (belonging to: the first labelling K1) and change calculates the message of (belonging to: the 3rd labelling K3) by recessive EDL(Extended Data
Length: growth data length) position represents, the EDL position of described recessiveness is substituted in standard CAN message the position of the position transmitted with being dominant and replaces this position or be moved rearwards by a position.Addressing for standard, EDL position replaces second position in control field and will be located in the r0 displacement being dominant all the time of there and move a position.For extended addressing, EDL position replaces the primary importance of control field and replacement is positioned at the r1 position of reservation of there in an example shown, and the r1 position of this reservation is transmitted with being dominant all the time in standard CAN.The labelling by EDL position can also be omitted when described above.
(the most optional) another labelling or the 4th labelling K4 are by inserting additional recessive BRS position (Bit according in the present invention, the control field of message that represented by EDL position
Rate Switch: bit rate switchs) illustrate, the use of the bit length that wherein said 4th labelling K4 notice shortens.In embodiment shown here, the position of BRS position is the 4th position (standard addressing) in control field or the 3rd position (extended addressing).
Message bearing mark " CAN FD is quick ".For two kinds of possible addressing flexible program reference formats and the extended format of message, draw region below in figure 6: change between two states represents with " quick CAN arbitration " and " quick CAN data " in this region and show.As described, the conversion between two states causes: the corresponding part bit length for described message is shortened and therefore each position is transmitted by bus more quickly.It is possible to shorten the transmission time for message relative to standard compliant method.Transition between state " quick CAN arbitration " and " quick CAN data " have first or the 3rd labelling EDL message in carry out according to the 4th labelling BRS, described 4th labelling signals the user of data transmission and applies the bit length of shortening.
Wherein the second labelling BRS follows the first labelling EDL, according to the transmission method of the present invention transmits following message: the bit length of described message substantially shortens, the data field size of described message extends to the value more than 8 bytes, and the CRC of described message and bigger matches.So realize significantly improving by the transmission capacity of described bus system while more preferable transmission security.
Transmit faster and immediately begin to after the labelling belonging to sending in the example shown and be immediately finished or be immediately finished after identifying the reason that erroneous frame starts after arriving the position for reverse conversion defined.
Fig. 7 illustrates the reception process relative to Fig. 3 amendment, the most additionally changes between state " quick CAN arbitration " and " quick CAN data " according to the second labelling BRS.If in branch 310 such as receive the second of control field as recessive position EDL after there is following information: the communication means according to present invention amendment should be applied, then in block 408, read in the ensuing position of data field.If receiving the position being used as the second labelling, 4th BRS of the control field such as extended according to the present invention, it has predetermined value, such as " recessive ", on the sampled point of institute's rheme, the most such as use state " quick CAN data ", namely be transformed on the bit length of shortening (path " C ").If relevant position has contrary value, namely is " being dominant " in this example embodiment, do not carry out the shortening (path " B ") of bit length.In block 412 or 414, it is controlled reception and the reception of data field of the remaining bit (including data length code) of field according to the size information in data length code.In block 412, receive by normal bit length, receive by the bit length shortened in block 414.In block 416 or 418, read in the crc field different, the most longer according to the present invention.In block 418, crc field last, i.e. be again transformed into state " quick CAN arbitration " with common bit rate on CRC separator.Subsequently, check similarly with Fig. 3 in branch 324, sender the CRC check that transmits and with the CRC check asked for by recipient itself and the most consistent and process the most further, as the most in figure 3.
Calculated below illustrate to use in Figure 5 with the embodiment represented with DLC 3 of described method combinedly shown in embodiment: assuming the data-field length of 24 bytes, the Frame with 11 bit addressings of reference format and the baud rate of 500kBit/s, the wherein said embodiment identified with DLC 3 has the data field size changed about the message transmission rate realized.Assume further that zoom factor increases to 4 times after " reserved bit " r0.The most in this case, the bit length after " reserved bit " r0 is reduced to 0.5 microsecond from 2 microseconds.Ignore in the case of possible filler every Frame in this example embodiment and transmit 27 (SOF, identifier, RTR, IDE, RO, ACK field, EOF, intermittently) and with bit length 212 (DLC, data, CRC, CRC separator) of transmission shortened with normal bit length, wherein at this it is also supposed that 15 CRC, but can be replaced by longer CRC according to 15 CRC of the present invention.
Under given boundary condition, draw effective efficiency of transmission of 293 in 160 microseconds, this in the case of the same bus assumed is fully loaded corresponding to data below transfer rate: described message transmission rate brings up to 3.7 times relative to unmodified standard CAN transmission.Additionally, useful data (data field) changes in an advantageous manner with the ratio of protocol overhead.
Described method motor vehicles properly functioning in be suitable between at least two controller connected by suitable data/address bus of motor vehicles transmit data.But described method can manufacturing or during maintenance equally advantageous for transmitting data in the purpose for programming between programming unit and at least one control equipment being connected with data/address bus of motor vehicles that suitably data/address bus is connected at motor vehicles.It is furthermore possible that described method be used in industrial automation, namely such as transmitting control information between distributed control unit interconnective by bus, described control unit controls the flow process of industry manufacturing process.Environment is likely to bus line around that occur growing very much, and can especially interesting be, such as by 16 microseconds, 32 microseconds or 64 microseconds, bus system is run by relatively long bit length for arbitration phase, thus bus signals can be propagated during arbitrated procedure as necessary in whole bus system.Then the part subsequently, for message can be transformed on shorter bit length as described, in order to does not allow average transmission rate to become too small.
Generally speaking, described method be a kind of be characterised by standard CAN controller only must minimally be altered to can according to the present invention work transmission method.Communication controler according to the present invention is only slightly larger than conventional standard CAN controller, and the described controller according to the present invention can be used as the work of standard CAN controller.Affiliated application program need not change, and thus has been carried out the advantage in terms of the speed of data transmission.The data field size extended by use and affiliated DLC and CRC, it is possible to it is minimum for improving the coupling in terms of the speed of data transmission, application software further.Can the major part (ISO 16845) of adapter CAN uniformity test.It is also possible that by the transmission method according to the present invention and TTCAN(ISO 11898-5) supplementary combination.
With reference in place of iso standard in the previous description of the present invention, corresponding iso standard can be respectively as the basis of prior art at application moment effective version.
Claims (22)
1., for the method carrying out serial data transmission in the bus system with the data processing unit that at least two participates in, described data processing unit passes through bus switch message,
The message wherein sent has according to CAN standard ISO
The logical structure of 11898-1,
Wherein said logical structure includes start of frame bits, arbitration field, control field, data field, crc field, confirmation field and frame end sequence,
Wherein said control field includes that data length code, described data length code comprise the information of the length about data field,
It is characterized in that, the data field of the message transmitted differently can include more than 8 bytes with CAN standard ISO 11898-1,
At least a part of which partly with CAN standard ISO
11898-1 differently explains that the value of data length code is to determine data field size.
Method the most according to claim 1,
It is characterized in that, each in being combined by the probable value of the position of described data length code distributes to one of data field size of permission.
Method the most according to claim 2,
It is characterized in that, make reception process compatible in data field size in the data processing unit participated in.
Method the most according to claim 3,
It is characterized in that, data length code includes 4 and data field can include the size between 0 byte and 15 bytes, and gives 16 possible values combinations of 4 of 16 possible data field size distribution data length codes.
Method the most according to claim 3,
It is characterized in that, data length code includes 4 and data field can include the size between 1 byte and 16 bytes, and gives 16 possible values combinations of 4 of 16 possible data field size distribution data length codes.
6. according to the method one of claim 1 to 5 Suo Shu,
It is characterized in that, the value between 0b0001 and 0b1000 of data length code is used for the data field size between 1 byte and 8 bytes according to CAN standard ISO 11898-1, and its residual value of data length code is used for other data field size allowed until the size of maximum possible.
7. according to the method described in claim 4 or 5,
It is characterized in that, in the case of there is switch condition, described data length code described 4 at least in part with CAN standard ISO 11898-1 differently and when described switch condition not in the presence of differently explained with described distribution.
Method the most according to claim 7,
It is characterized in that, following message can be identified by the labelling in arbitration field and/or in control field: in described message, described data length code described 4 should in the case of there is switch condition at least in part with CAN standard ISO 11898-1 differently and when described switch condition not in the presence of differently explained with described distribution.
Method the most according to claim 8,
It is characterized in that, in the data processing unit participated in, assess described labelling to ask for described switch condition and to make described reception process compatible in data field size according to described switch condition.
10. according to the method one of claim 1 to 5 Suo Shu,
It is characterized in that, the crc field of described message can have the different figure place of at least two and for described data length code virtual value at least one there is the figure place different from CAN standard ISO 11898-1,
Wherein use at least one and CAN standard ISO
Generator polynomials different for 11898-1 determines this content with the not crc field of isotopic number.
11. methods according to claim 10,
It is characterized in that, in the data processing unit participated in, derive the figure place in crc field according to the content of described data length code, wherein mate reception process according to the figure place in the crc field derived.
12. methods according to claim 10,
It is characterized in that, start the calculating of at least two CRC check sum when message starts by different generator polynomials concurrently, and determine according to the content of described data length code: use which result of one of the CRC calculating from described parallel starting.
13. methods according to claim 12,
It is characterized in that, at least one CRC in performed CRC calculates be also contemplated for when calculating described message be positioned at crc field before the possible filler of fragment.
14. according to the method one of claim 3 to 5 Suo Shu,
It is characterized in that, temporal bit length in message can use the value that at least two is different, wherein at least one in described message can predetermined first area, temporal bit length described in the second area that described temporal bit length can be predetermined more than or equal to the minima of about 1 predetermined microsecond and at least one in described message has compares the value that described first area reduces.
15. methods according to claim 14,
It is characterized in that, the different value of at least two of the described temporal bit length in message realizes adjusting bus time unit relative to minimum time unit or oscillator clock by using zoom factor that at least two is different in continuous service.
16. methods according to claim 14,
It is characterized in that, following message can be by the marker recognition in described arbitration field and/or in described control field: in described message, the described temporal bit length in message can use the value that at least two is different.
17. methods according to claim 16,
It is characterized in that, in the data processing unit participated in, assess described labelling, wherein make the different value of described reception process compatible bit length in message according to described labelling.
18. for carrying out the equipment of serial data transmission in the bus system with the data processing unit that at least two participates in, and described data processing unit passes through bus switch message,
The message wherein sent has according to CAN standard ISO
The logical structure of 11898-1,
Wherein said logical structure includes start of frame bits, arbitration field, control field, data field, crc field, confirmation field and frame end sequence,
Wherein said control field includes that data length code, described data length code comprise the information of the length about data field,
It is characterized in that, the data field of the message transmitted differently can include more than 8 bytes with CAN standard ISO 11898-1,
At least a part of which partly with CAN standard ISO
11898-1 differently explains that the value of data length code is to determine data field size.
19. equipment according to claim 18,
It is characterized in that, described equipment by suitable device be provided for implement according to described in claim 2 to 17 for data transmission method at least one.
20. equipment according to claim 19,
It is characterized in that, described suitable device includes the sufficient amount of shift register for calculating at least two CRC check sum according to claim 12 to 13.
21. according to the method one of claim 1 to 17 Suo Shu motor vehicles properly functioning in use, between at least two control equipment of described motor vehicles transmit data, described at least two control equipment connected by suitable data/address bus.
22. according to the use during the manufacturing or safeguard of motor vehicles of the method one of claim 1 to 17 Suo Shu, for for transmission data between purpose and programming unit and at least one control equipment being connected with described data/address bus of described motor vehicles that suitably data/address bus is connected of programming.
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| DE102011078266A DE102011078266A1 (en) | 2011-06-29 | 2011-06-29 | Method and apparatus for serial data transmission with flexible message size and variable bit length |
| DE102011080476A DE102011080476A1 (en) | 2011-08-05 | 2011-08-05 | Method and apparatus for improving data transmission security in serial data transmission with flexible message size |
| DE102011080476.5 | 2011-08-05 | ||
| PCT/EP2012/055596 WO2012136550A1 (en) | 2011-04-06 | 2012-03-29 | Method and device for increasing the data transmission capacity in a serial bus system |
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